Communication device, information processing method, and storage medium

ABSTRACT

A communication device includes: a plurality of wireless communication sections, each configured to be capable of wirelessly transmitting and receiving a signal to and from another communication device; and a control section configured to detect a specific element with regard to each of a plurality of correlation computation results that are obtained by correlating a first signal that is transmitted from the other communication device and that includes change in amplitude with respective second signals obtained when the plurality of wireless communication sections receive the first signal, calculate a reliability parameter that is an indicator indicating whether the detected specific element is appropriate for a processing target, and control a positional parameter determination process on the basis of the reliability parameter, the positional parameter determination process being a process of estimating a positional parameter indicating a position of the other communication device on the basis of the detected specific element.

CROSS REFERENCE TO RELATED APPLICATION(S)

This application is based upon and claims benefit of priority fromJapanese Patent Application No. 2020-023217, filed on Feb. 14, 2020, theentire contents of which are incorporated herein by reference.

BACKGROUND

The present invention relates to a communication device, an informationprocessing method, and a storage medium.

In recent years, technologies that allow one device to estimate aposition of another device in accordance with a result oftransmitting/receiving a signal between the devices have been developed.As an example of the technologies of estimating a position, WO2015/176776 A1 discloses a technology that allows an UWB(ultra-wideband) receiver to estimate an angle of incidence of awireless signal from an UWB transmitter by performing wirelesscommunication section using UWB.

However, the technology disclosed by WO 2015/176776 A1 does not dealwith reduction in accuracy of estimating the angle of incidence of thewireless signal in an environment where an obstacle is interposedbetween the transmitter and the receiver, or other environments. Inaddition to dealing with the above-described issue, it has been desiredto improve accuracy of the position estimation technologies more.

Accordingly, the present invention is made in view of the aforementionedissues, and an object of the present invention is to provide a mechanismthat makes it possible to improve accuracy of estimating a position.

SUMMARY

To solve the above described problem, according to an aspect of thepresent invention, there is provided a communication device comprising:a plurality of wireless communication sections, each of which isconfigured to be capable of wirelessly transmitting and receiving asignal to and from another communication device; and a control sectionconfigured to correlate a first signal that is transmitted from theother communication device and that includes change in amplitude withrespective second signals obtained when the plurality of wirelesscommunication sections receive the first signal, at a designatedinterval after the other device transmits the first signal, detect, on abasis of a first threshold, a specific element that is one or more of aplurality of elements included in a correlation computation result, withregard to each of a plurality of the correlation computation resultsthat are results obtained by correlating the first signal and therespective second signals at the designated interval and that includes acorrelation value indicating magnitude of correlation between the firstsignal and the second signal as the element obtained at each delay timeserving as time elapsed after the other communication device transmitsthe first signal at the designated interval, calculate a reliabilityparameter that is an indicator indicating whether the detected specificelement is appropriate for a processing target, and control a positionalparameter determination process on a basis of the reliability parameter,the positional parameter determination process being a process ofestimating a positional parameter indicating a position of the othercommunication device on a basis of the detected specific element.

To solve the above described problem, according to another aspect of thepresent invention, there is provided an information processing methodthat is executed by a communication device including a plurality ofwireless communication sections, each of which is configured to becapable of wirelessly transmitting and receiving a signal to and fromanother communication device, the information processing methodcomprising: correlating a first signal that is transmitted from theother communication device and that includes change in amplitude withrespective second signals obtained when the plurality of wirelesscommunication sections receive the first signal, at a designatedinterval after the other device transmits the first signal; detecting,on a basis of a first threshold, a specific element that is one or moreof a plurality of elements included in a correlation computation result,with regard to each of a plurality of the correlation computationresults that are results obtained by correlating the first signal andthe respective second signals at the designated interval and thatincludes a correlation value indicating magnitude of correlation betweenthe first signal and the second signal as the element obtained at eachdelay time serving as time elapsed after the other communication devicetransmits the first signal at the designated interval; calculating areliability parameter that is an indicator indicating whether thedetected specific element is appropriate for a processing target; andcontrolling a positional parameter determination process on a basis ofthe reliability parameter, the positional parameter determinationprocess being a process of estimating a positional parameter indicatinga position of the other communication device on a basis of the detectedspecific element.

To solve the above described problem, according to another aspect of thepresent invention, there is provided a storage medium having a programstored therein, the program causing a computer for controlling acommunication device including a plurality of wireless communicationsections, each of which is configured to be capable of wirelesslytransmitting and receiving a signal to and from another communicationdevice, to function as a control section configured to correlate a firstsignal that is transmitted from the other communication device and thatincludes change in amplitude with respective second signals obtainedwhen the plurality of wireless communication sections receive the firstsignal, at a designated interval after the other device transmits thefirst signal, detect, on a basis of a first threshold, a specificelement that is one or more of a plurality of elements included in acorrelation computation result, with regard to each of a plurality ofthe correlation computation results that are results obtained bycorrelating the first signal and the respective second signals at thedesignated interval and that includes a correlation value indicatingmagnitude of correlation between the first signal and the second signalas the element obtained at each delay time serving as time elapsed afterthe other communication device transmits the first signal at thedesignated interval, calculate a reliability parameter that is anindicator indicating whether the detected specific element isappropriate for a processing target, and control a positional parameterdetermination process on a basis of the reliability parameter, thepositional parameter determination process being a process of estimatinga positional parameter indicating a position of the other communicationdevice on a basis of the detected specific element.

As described above, according to the present invention, it is possibleto provide the mechanism that makes it possible to improve accuracy ofestimating a position.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an example of a configuration of asystem according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating an example of arrangement of aplurality of antennas installed in a vehicle according to theembodiment.

FIG. 3 is a diagram illustrating an example of a positional parameter ofa portable device according to the embodiment.

FIG. 4 is a diagram illustrating an example of a positional parameter ofthe portable device according to the embodiment.

FIG. 5 is a diagram illustrating an example of processing blocks forsignal processing in a communication unit according to the embodiment.

FIG. 6 is a graph illustrating an example of a CIR according to theembodiment.

FIG. 7 is a sequence diagram illustrating an example of a flow of aranging process executed by the system according to the embodiment.

FIG. 8 is a sequence diagram illustrating an example of a flow of anangle estimation process executed by the system according to theembodiment.

FIG. 9 is a graph illustrating an example of a CIR.

FIG. 10 is a graph illustrating an example of a CIR.

FIG. 11 is graphs illustrating examples of CIRs with regard to aplurality of wireless communication sections.

FIG. 12 is a graph illustrating an example of a CIR with regard to thewireless communication section in an LOS condition.

FIG. 13 is a graph illustrating an example of a CIR with regard to thewireless communication section in an NLOS condition.

FIG. 14 is diagrams for describing examples of reliability parametersaccording to the embodiment.

FIG. 15 is diagrams for describing examples of reliability parametersaccording to the embodiment.

FIG. 16 is a flowchart illustrating an example of a flow of a controlprocess of a positional parameter estimation process executed by thecommunication unit according to the embodiment on the basis of thereliability parameters.

FIG. 17 is a flowchart illustrating an example of a flow of a controlprocess of a positional parameter estimation process executed by thecommunication unit according to the embodiment on the basis of thereliability parameters.

FIG. 18 is a flowchart illustrating an example of a flow of a controlprocess of a positional parameter estimation process executed by thecommunication unit according to the embodiment on the basis of thereliability parameters.

DETAILED DESCRIPTION OF THE EMBODIMENT(S)

Hereinafter, referring to the appended drawings, preferred embodimentsof the present invention will be described in detail. It should be notedthat, in this specification and the appended drawings, structuralelements that have substantially the same function and structure aredenoted with the same reference numerals, and repeated explanationthereof is omitted.

Further, in the present specification and the drawings, differentalphabets are suffixed to a same reference numeral to distinguishelements which have substantially the same functional configuration. Forexample, a plurality of elements which have substantially the samefunctional configuration are distinguished such as wirelesscommunication sections 210A, 210B, and 210C, as necessary. However, whenthere is no need in particular to distinguish elements that havesubstantially the same functional configuration, the same referencenumeral alone is attached. For example, in the case where it is notnecessary to particularly distinguish the wireless communicationsections 210A, 210B, and 210C, the wireless communication sections 210A,210B, and 210C are simply referred to as the wireless communicationsections 210.

1. Configuration Example

FIG. 1 is a diagram illustrating an example of a configuration of asystem 1 according to an embodiment of the present invention. Asillustrated in FIG. 1, the system 1 according to the present embodimentincludes a portable device 100 and a communication unit 200. Thecommunication unit 200 according to the present embodiment is installedin a vehicle 202. The vehicle 202 is an example of a usage target of theuser.

A communication device of an authenticatee and a communication device ofan authenticator are involved in the present embodiment. In the exampleillustrated in FIG. 1, the portable device 100 is an example of thecommunication device of the authenticatee, and the communication unit200 is an example of the communication device of the authenticator.

When a user (for example, a driver of the vehicle 202) carrying theportable device 100 approaches the vehicle 202, the system 1 performswireless communication for authentication between the portable device100 and the communication unit 200 installed in the vehicle 202. Next,when the authentication succeeds, the vehicle 202 becomes available forthe user by unlocking a door lock of the vehicle 202 and starting anengine of the vehicle 202. The system 1 is also referred to as a smartentry system. Next, respective structural elements will be describedsequentially.

(1) Portable Device 100

The portable device 100 is configured as any device to be carried by theuser. Examples of the any device include an electronic key, asmartphone, a wearable terminal, and the like. As illustrated in FIG. 1,the portable device 100 includes a wireless communication section 110, astorage section 120, and a control section 130.

The wireless communication section 110 has a function of performingwireless communication with the communication unit 200 installed in thevehicle 202. The wireless communication section 110 wirelessly receivesa signal from the communication unit 200 installed in the vehicle 202.In addition, the wireless communication section 110 wirelessly transmitsa signal to the communication unit 200.

For example, wireless communication is performed between the wirelesscommunication section 110 and the communication unit 200 by using anultra-wideband (UWB) signal, for example. In the wireless communicationof the UWB signal, it is possible for impulse UWB to measure propagationdelay time of a radio wave with high accuracy by using the radio wave ofultra-short pulse width of a nanosecond or less, and it is possible toperform ranging with high accuracy on the basis of the propagation delaytime. Note that, the propagation delay time is time from transmission toreception of the radio wave. The wireless communication section 110 isconfigured as a communication interface that makes it possible toperform communication by using the UWB signals, for example.

Note that, the UWB signal may be transmitted/received as a rangingsignal, an angle estimation signal, and a data signal, for example. Theranging signal is a signal transmitted and received in the rangingprocess (to be described later). The ranging signal may be configured ina frame format that does not include a payload part for storing data orin a frame format that includes the payload part. The angle estimationsignal is a signal transmitted and received in an angle estimationprocess (to be described later). The angle estimation signal may beconfigured in a way similar to the ranging signal. The data signal ispreferably configured in the frame format that includes the payload partfor storing the data.

Here, the wireless communication section 110 includes at least oneantenna 111. In addition, the wireless communication section 110transmits/receives a wireless signal via the at least one antenna 111.

The storage section 120 has a function of storing various kinds ofinformation for operating the portable device 100. For example, thestorage section 120 stores a program for operating the portable device100, and an identifier (ID), password, and authentication algorithm forauthentication, and the like. For example, the storage section 120includes a storage medium such as flash memory and a processing devicethat performs recording/playback on/of the storage medium.

The control section 130 has a function of executing processes in theportable device 100. For example, the control section 130 controls thewireless communication section 110 to perform communication with thecommunication unit 200 of the vehicle 202. The control section 130 readsinformation from the storage section 120 and writes information into thestorage section 120. The control section 130 also functions as anauthentication control section that controls an authentication processbetween the portable device 100 and the communication unit 200 of thevehicle 202. For example, the control section 130 may include a centralprocessing unit (CPU) and an electronic circuit such as amicroprocessor.

(2) Communication Unit 200

The communication unit 200 is prepared in association with the vehicle202. Here, it is assumed that the communication unit 200 is installed inthe vehicle 202 in such a manner that the communication section 200 isinstalled in a vehicle interior of the vehicle 202, the communicationsection 200 is built in the vehicle 202 as a communication module, or inother manners. Alternatively, the communication unit 200 may be preparedas a separate object from the vehicle 202 in such a manner that thecommunication unit 200 is installed in a parking space for the vehicle202 or in other manners. In this case, the communication unit 200 maywirelessly transmit a control signal to the vehicle 202 on the basis ofa result of communication with the portable device 100 and may remotelycontrol the vehicle 202. As illustrated in FIG. 1, the communicationunit 200 includes a plurality of wireless communication sections 210(210A to 210D), a storage section 220, and a control section 230.

The wireless communication section 210 has a function of performingwireless communication with the wireless communication section 110 ofthe portable device 100. The wireless communication section 210wirelessly receives a signal from the portable device 100. In addition,the wireless communication section 210 wirelessly transmits a signal tothe portable device 100. The wireless communication section 210 isconfigured as a communication interface that makes it possible toperform communication by using the UWB, for example.

Here, each of the wireless communication sections 210 includes anantenna 211. In addition, each of the wireless communication sections210 transmits/receives a wireless signal via the antenna 211.

The storage section 220 has a function of storing various kinds ofinformation for operating the communication unit 200. For example, thestorage section 220 stores a program for operating the communicationunit 200, an authentication algorithm, and the like. For example, thestorage section 220 includes a storage medium such as flash memory and aprocessing device that performs recording/playback on/of the storagemedium.

The control section 230 has a function of controlling overall operationperformed by the communication unit 200 and in-vehicle equipmentinstalled in the vehicle 202. For example, the control section 230controls the wireless communication sections 210 to performcommunication with the portable device 100. The control section 230reads information from the storage section 220 and writes informationinto the storage section 220. The control section 230 also functions asan authentication control section that controls the authenticationprocess between the portable device 100 and the communication unit 200of the vehicle 202. In addition, the control section 230 also functionsas a door lock control section that controls a door lock of the vehicle202, and opens and closes the door lock. The control section 230 alsofunctions as an engine control section that controls the engine of thevehicle 202, and starts/stops the engine. Note that, a motor or the likemay be installed as a power source in the vehicle 202 in addition to theengine. For example, the control section 230 is configured as anelectronic circuit such as an electronic control unit (ECU).

2. Estimation of Positional Parameter

<2.1. Positional Parameter>

The communication unit 200 (specifically, control section 230) accordingto the present embodiment performs a positional parameter estimationprocess of estimating a positional parameter that represents a positionof the portable device 100. Hereinafter, with reference to FIG. 2 toFIG. 4, various definitions related to the positional parameter will bedescribed.

FIG. 2 is a diagram illustrating an example of arrangement of theplurality of antennas 211 (wireless communication sections 210)installed in the vehicle 202 according to the present embodiment. Asillustrated in FIG. 2, the four antennas 211 (211A to 211D) areinstalled on a ceiling of the vehicle 202. The antenna 211A is installedon a front right side of the vehicle 202. The antenna 211B is installedon a front left side of the vehicle 202. The antenna 211C is installedon a rear right side of the vehicle 202. The antenna 211D is installedon a rear left side of the vehicle 202. Note that, distances betweenadjacent antennas 211 are set to a half or less of wavelength λ of acarrier wave of an angle estimation signal (to be described later). Alocal coordinate system of the communication unit 200 is set as acoordinate system based on the communication unit 200. An example of thelocal coordinate system of the communication unit 200 has its origin atthe center of the four antennas 211. This local coordinate system hasits X axis along a front-rear direction of the vehicle 202, its Y axisalong a left-right direction of the vehicle 202, and its Z axis along anup-down direction of the vehicle 202. Note that, the X axis is parallelto a line connecting a pair of the antennas in the front-rear direction(such as a pair of the antenna 211A and the antenna 211C, and a pair ofthe antenna 211B and the antenna 211D). In addition, the Y axis isparallel to a line connecting a pair of the antennas in the left-rightdirection (such as a pair of the antenna 211A and the antenna 211B, anda pair of the antenna 211C and the antenna 211D).

Note that, the arrangement of the four antennas 211 is not limited tothe square shape. The arrangement of the four antennas 211 may be aparallelogram shape, a trapezoid shape, a rectangular shape, or anyother shapes. Of course, the number of antennas 211 is not limited tofour.

FIG. 3 is a diagram illustrating an example of a positional parameter ofthe portable device 100 according to the present embodiment. Thepositional parameter may include a distance R between the portabledevice 100 and the communication unit 200. The distance R illustrated inFIG. 3 is a distance from the origin of the local coordinate system ofthe communication unit 200 to the portable device 100. The distance R isestimated on the basis of a result of transmission/reception of aranging signal (to be described later) between the portable device 100and one of the plurality of wireless communication sections 210. Thedistance R may be a distance between the portable device 100 and one ofthe wireless communication sections 210 that transmit/receive theranging signal (to be described later).

In addition, as illustrated in FIG. 3, the positional parameter mayinclude an angle of the portable device 100 based on the communicationunit 200, the angle including an angle α between the X axis and theportable device 100 and an angle β between the Y axis and the portabledevice 100. The angles α and β are angles between the coordinate axes ofa first predetermined coordinate system and a straight line connectingthe portable device 100 with the origin of the first predeterminedcoordinate system. For example, the first predetermined coordinatesystem is the local coordinate system of the communication unit 200. Theangle α is an angle between the X axis and the straight line connectingthe portable device 100 with the origin. The angle β is an angle betweenthe Y axis and the straight line connecting the portable device 100 withthe origin.

FIG. 4 is a diagram illustrating an example of the positional parameterof the portable device 100 according to the present embodiment. Thepositional parameter may include coordinates of the portable device 100in a second predetermined coordinate system. In FIG. 4, a coordinate xon the X axis, a coordinate y on the Y axis, and a coordinate z on the Zaxis of the portable device 100 are an example of such coordinates. Inother words, the second predetermined coordinate system may be the localcoordinate system of the communication unit 200. Alternatively, thesecond predetermined coordinate system may be a global coordinatesystem.

<2.2. CIR>

(1) CIR Calculation Process

In the positional parameter estimation process, the portable device 100and the communication unit 200 communicate with each other to estimatethe positional parameter. At this time, the portable device 100 and thecommunication unit 200 calculates channel impulse responses (CIRs).

The CIR is a response obtained when an impulse is input to the system.In the case where a wireless communication section of one of theportable device 100 and the communication unit 200 (hereinafter, alsoreferred to as a transmitter) transmits a signal including a pulse as afirst signal, the CIR according to the present embodiment is calculatedon the basis of a second signal that corresponds to the first signal andthat is received by a wireless communication section of the other(hereinafter, also referred to as a receiver). The pulse is a signalincluding change in amplitude. It can be said that the CIR indicatescharacteristics of a wireless communication path between the portabledevice 100 and the communication unit 200. Hereinafter, the first signalis also referred to as a transmission signal, and the second signal isalso referred to as a reception signal.

For example, the CIR may be a correlation computation result that is aresult obtained by correlating the transmission signal with thereception signal at each delay time that is time elapsed after thetransmitter transmits the transmission signal. Here, the correlation maybe sliding correlation that is a process of correlating the transmissionsignal with the reception signal by shifting relative positions of thesignals in a time direction. The correlation computation result includesa correlation value indicating a degree of the correlation between thetransmission signal and the reception signal as an element obtained ateach delay time. Each of a plurality of the elements included in thecorrelation computation result is information including a combination ofthe delay time and the correlation value. The correlation may becalculated at each delay time between designated intervals. In otherwords, the CIR may be a result of correlating the transmission signalwith the reception signal at the designated interval after thetransmitter transmits the transmission signal. Here, the designatedinterval is an interval between timings at which the receiver samplesthe reception signal, for example. Therefore, an element included in theCIR is also referred to as a sampling point. The correlation value maybe a complex number including IQ components. In addition, thecorrelation value may be a phase or amplitude of the complex number. Inaddition, the correlation value may be electric power that is a sum ofsquares of an I component and a Q component of the complex number (orsquare of amplitude).

For another example, the CIR may be the reception signal itself (complexnumber including IQ components). Alternatively, the CIR may be a phaseor amplitude of the reception signal. Alternatively, the CIR may beelectric power that is a sum of squares of an I component and a Qcomponent of the reception signal (or square of amplitude).

A value obtained at each delay time of the CIR is also referred to as aCIR value. In other words, the CIR is chronological change in the CIRvalue. In the case where the CIR is the correlation computation result,the CIR value is a correlation value obtained at each delay time. In thecase where the CIR is the reception signal itself, the CIR value is thereception signal received at each delay time. In the case where the CIRis the phase or amplitude of the reception signal, the CIR value is thephase or amplitude of the reception signal received at each delay time.In the case where the CIR is the electric power of the reception signal,the CIR value is the electric power of the reception signal received ateach delay time.

In the case where the CIR is the correlation computation result, thereceiver calculates the CIR by correlating the transmission signal withthe reception signal through the sliding correlation. For example, thereceiver calculates a value obtained by correlating the reception signalwith the transmission signal delayed by a certain delay time, ascharacteristics (that is, CIR value) obtained at the delay time. Next,the receiver calculates the CIR value at each delay time to calculatethe CIR. Hereinafter, it is assumed that the CIR is the correlationcomputation result.

Note that, the CIR is also referred to as delay profile in a rangingtechnology using the UWB. In particular, the CIR using electric power asthe CIR value is referred to as power delay profile.

Hereinafter, with reference to FIG. 5 to FIG. 6, a CIR calculationprocess performed in the case where the portable device 100 serves asthe transmitter and the communication unit 200 serves as the receiverwill be described in detail.

FIG. 5 is a diagram illustrating an example of processing blocks forsignal processing in the communication unit 200 according to the presentembodiment. As illustrated in FIG. 5, the communication unit 200includes an oscillator 212, a multiplier 213, a 90-degree phase shifter214, a multiplier 215, a low pass filter (LPF) 216, an LPF 217, acorrelator 218, and an integrator 219.

The oscillator 212 generates a signal of same frequency as frequency ofa carrier wave that carries a transmission signal, and outputs thegenerated signal to the multiplier 213 and the 90-degree phase shifter214.

The multiplier 213 multiplies a reception signal received by the antenna211 by the signal output from the oscillator 212, and outputs a resultof the multiplication to the LPF 216. Among input signals, the LPF 216outputs a signal of lower frequency than the frequency of the carrierwave that carries the transmission signal, to the correlator 218. Thesignal input to the correlator 218 is an I component (that is, a realpart) among components corresponding to an envelope of the receptionsignal.

The 90-degree phase shifter 214 delays the phase of the input signal by90 degrees, and outputs the delayed signal to the multiplier 215. Themultiplier 215 multiplies the reception signal received by the antenna211 by the signal output from the 90-degree phase shifter 214, andoutputs a result of the multiplication to the LPF 217. Among inputsignals, the LPF 217 outputs a signal of lower frequency than thefrequency of the carrier wave that carries the transmission signal, tothe correlator 218. The signal input to the correlator 218 is a Qcomponent (that is, an imaginary part) among the componentscorresponding to the envelope of the reception signal.

The correlator 218 calculates the CIR by correlating a reference signalwith the reception signals including the I component and the Q componentoutput from the LPF 216 and the LPF 217 through the sliding correlation.Note that, the reference signal described herein is the same signal asthe transmission signal before multiplying the carrier wave.

The integrator 219 integrates the CIRs output from the correlator 218,and outputs the integrated CIRs.

Here, the transmitter may transmit a signal including a preamble as thetransmission signal. The preamble is a sequence known to the transmitterand the receiver. Typically, the preamble is arranged at a head of thetransmission signal. The preamble includes one or more preamble symbols.The preamble symbol is a pulse sequence including one or more pulses.The pulse sequence is a set of the plurality of pulses that are separatefrom each other in the time direction.

The preamble symbol is a target of integration performed by theintegrator 219. Therefore, the correlator 218 calculates the CIR foreach of the one or more preamble symbols by correlating a portioncorresponding to a preamble symbol with a preamble symbol included inthe transmission signal with regard to each of portions corresponding tothe one or more preamble symbols included in the reception signal, atthe designated intervals after the portable device 100 transmits thepreamble symbol. Next, the integrator 219 obtains integrated CIRs byintegrating the CIRs of the respective preamble symbols with regard tothe one or more preamble symbols included in the preamble. Next, theintegrator 219 outputs the integrated CIRs. Hereinafter, the CIR meansthe integrated CIRs unless otherwise noted.

As described above, the CIR includes a correlation value indicating adegree of the correlation between the transmission signal and thereception signal as an element obtained at each delay time, which istime elapsed after the transmitter transmits the transmission signal.From a viewpoint of the preamble symbol, the CIR includes thecorrelation value indicating a degree of the correlation between thetransmission signal and the reception signal as an element obtained ateach delay time, which is time elapsed after the transmitter transmitseach preamble symbol.

(2) Example of CIR

FIG. 6 illustrates an example of the CIR output from the integrator 219.FIG. 6 is a graph illustrating the example of the CIR according to thepresent embodiment. The graph includes a horizontal axis representingdelay time. The graph includes a vertical axis representing absolutevalues of CIR values (such as amplitude or electric power). Note that,the shape of CIR, more specifically, the shape of chronological changein the CIR value may also be referred to as a CIR waveform. Typically, aset of elements obtained between a zero-crossing and anotherzero-crossing corresponds to a single pulse with regard to the CIR. Thezero-crossings are elements whose value is zero. However, the same doesnot apply to an environment with noise. For example, a set of elementsobtained between intersections of a standard with chronological changein the CIR value may be treated as corresponding to the single pulse.The CIR illustrated in FIG. 6 includes a set 21 of elementscorresponding to a certain pulse, and a set 22 of elements correspondingto another pulse.

For example, the set 21 corresponds to a signal (such as pulse) thatreaches the receiver through a first path. The first path is a shortestpath between the transmitter and the receiver. In an environment thatincludes no obstacle, the first path is a straight path between thetransmitter and the receiver. For example, the set 22 corresponds to asignal (such as pulse) that reaches the receiver through a path otherthan the first path. As described above, the signals that have passedthrough different paths are also referred to as multipath waves.

(3) Detection of First Incoming Wave

Among wireless signals received from the transmitter, the receiverdetects a signal that meets a predetermined detection standard as asignal that reaches the receiver through the first path. Next, thereceiver estimates the positional parameter on the basis of the detectedsignal.

Hereinafter, the signal detected as the signal that reaches the receiverthrough the first path is also referred to as the first incoming wave.The first incoming wave may be any of a direct wave, a delayed wave, ora combined wave. The direct wave is a signal that passes through ashortest path between the transmitter and the receiver, and is receivedby the receiver. In other words, the direct wave is a signal thatreaches the receiver through the first path. The delayed wave is asignal that passes through a path different from the shortest pathbetween the transmitter and the receiver, that is, through a path otherthan the first path, and reaches the receiver. The delayed wave isreceived by the receiver after getting delayed in comparison with thedirect wave. The combined wave is a signal received by the receiver in astate of combining a plurality of signals that have passed through aplurality of different paths.

The receiver detects the signal that meets the predetermined detectionstandard as the first incoming wave, among the received wirelesssignals. For example, the predetermined detection standard is acondition that the CIR value (such as amplitude or electric power)exceeds a predetermined threshold for the first time. In other words,the receiver may detect a pulse corresponding to a portion of the CIRobtained when the CIR value exceeds the predetermined threshold for thefirst time, as the first incoming wave.

Here, it should be noted that the signal detected as the first incomingwave is not necessarily the direct wave. For example, if the direct waveis received in a state where the direct wave and the delayed waveannihilate each other, sometimes the CIR value falls below thepredetermined threshold and the direct wave is not detected as the firstincoming wave. In this case, the combined wave or the delayed wavecoming while being delayed behind the direct wave is detected as thefirst incoming wave.

Hereinafter, the predetermined threshold used for detecting the firstincoming wave is also referred to as a first path threshold.

Reception Time of First Incoming Wave

The receiver may treat the time of meeting the predetermined detectionstandard as reception time of the first incoming wave. For example, thereception time of the first incoming wave is time corresponding todelayed time of an element having a CIR value that exceeds the firstpath threshold for the first time.

Alternatively, the receiver may treat time of obtaining a peak of thedetected first incoming wave as the reception time of the first incomingwave. In this case, for example, the reception time of the firstincoming wave is time corresponding to delayed time of an element havinghighest amplitude or electric power as the CIR value, among the set ofelements corresponding to the first incoming wave with regard to theCIR.

Hereinafter, it is assumed that the reception time of the first incomingwave is time corresponding to delayed time of an element having a CIRvalue that exceeds the first path threshold for the first time.

Phase of First Incoming Wave

The receiver may treat a phase obtained at time of meeting thepredetermined detection standard as a phase of the first incoming wave.For example, the phase of the first incoming wave is a phase serving asa CIR value of an element having the CIR value that exceeds the firstpath threshold for the first time.

Alternatively, the receiver may treat a phase of the peak of thedetected first incoming wave as the phase of the first incoming wave. Inthis case, for example, the reception time of the first incoming wave isthe phase serving as a CIR value of an element having highest amplitudeor electric power as the CIR value, among the set of elementscorresponding to the first incoming wave with regard to the CIR.

Hereinafter, it is assumed that the phase of the first incoming wave isa phase serving as a CIR value of an element having the CIR value thatexceeds the first path threshold for the first time.

Width of First Incoming Wave

The width of the set of elements corresponding to the first incomingwave in the time direction is also referred to as the width of the firstincoming wave. For example, the width of the first incoming wave is thewidth between a zero-crossing and another zero-crossing of the CIR inthe time direction. For another example, the width of the first incomingwave is width between intersections of a standard with chronologicalchange in the CIR value in the time direction.

The width of a pulse included in the transmission signal in the timedirection is also referred to as the width of the pulse. For example,the width of the pulse is the width between a zero-crossing and anotherzero-crossing of chronological change in the CIR value in the timedirection. For another example, the width of the pulse is width betweenintersections of a standard with chronological change in the CIR valuein the time direction.

In the case where only the direct wave is detected as the first incomingwave, the first incoming wave of the CIR has an ideal width. The idealwidth obtained when only the direct wave is detected as the firstincoming wave can be calculated through theoretical calculation usingthe waveform of the transmission signal, a reception signal processingmethod, and the like. On the other hand, in the case where the combinedwave is received as the first incoming wave, the width of the firstincoming wave of the CIR may be different from the ideal width. Forexample, in the case where a combined wave obtained by combining adirect wave and a delayed wave having a same phase as the direct wave isdetected as the first incoming wave, a portion corresponding to thedirect wave and a portion corresponding to the delayed wave are added ina state where they are shifted in the time direction. Therefore, theportions reinforce each other, and the first incoming wave in the CIRhas a wider width. On the other hand, in the case where a combined waveobtained by combining a direct wave and a delayed wave having anopposite phase from the direct wave is detected as the first incomingwave, the direct wave and the delayed wave annihilate each other.Therefore, the first incoming wave in the CIR has a narrower width.

<2.3. Estimation of Positional Parameter>

(1) Ranging

The communication unit 200 performs the ranging process. The rangingprocess is a process of estimating a distance between the communicationunit 200 and the portable device 100. For example, the distance betweenthe communication unit 200 and the portable device 100 is the distance Rillustrated in FIG. 3. The ranging process includestransmission/reception of a ranging signal and calculation of thedistance R based on propagation delay time of the ranging signal. Theranging signal is a signal used for ranging among signalstransmitted/received between the portable device 100 and thecommunication unit 200. The propagation delay time is time fromtransmission to reception of the signal.

Here, the ranging signal is transmitted/received by one of the pluralityof wireless communication sections 210 of the communication unit 200.Hereinafter, the wireless communication section 210 thattransmits/receives the ranging signal is also referred to as a master.The distance R is a distance between the wireless communication section210 serving as the master (more precisely, the antenna 211) and theportable device 100 (more precisely, the antenna 111). In addition, thewireless communication sections 210 other than the wirelesscommunication section 210 that transmits/receives the ranging signal arealso referred to as slaves.

In the ranging process, a plurality of the ranging signals may betransmitted and received between communication unit 200 and the portabledevice 100. Among the plurality of ranging signals, a ranging signaltransmitted from one device to the other device is also referred to as afirst ranging signal. Next, a ranging signal transmitted as a responseto the first ranging signal from the device that has received the firstranging signal to the device that has transmitted the first rangingsignal is also referred to as a second ranging signal. In addition, aranging signal transmitted as a response to the second ranging signalfrom the device that has received the second ranging signal to thedevice that has transmitted the second ranging signal is also referredto as a third ranging signal.

Next, with reference to FIG. 7, an example of a flow of the rangingprocess will be described.

FIG. 7 is a sequence diagram illustrating the example of the flow of theranging process executed in the system 1 according to the presentembodiment. The portable device 100 and the communication unit 200 areinvolved in this sequence. It is assumed that the wireless communicationsection 210A functions as the master in this sequence.

As illustrated in FIG. 7, the portable device 100 first transmits thefirst ranging signal (Step S102). When the wireless communicationsection 210A receives the first ranging signal, the control section 230calculates a CIR of the first ranging signal. Next, the control section230 detects a first incoming wave of the first ranging signal of thewireless communication section 210A on the basis of the calculated CIR(Step S104).

Next, the wireless communication section 210A transmits the secondranging signal in response to the first ranging signal (Step S106). Whenthe second ranging signal is received, the portable device 100calculates a CIR of the second ranging signal. Next, the portable device100 detects a first incoming wave of the second ranging signal on thebasis of the calculated CIR (Step S108).

Next, the portable device 100 transmits the third ranging signal inresponse to the second ranging signal (Step S110). When the wirelesscommunication section 210A receives the third ranging signal, thecontrol section 230 calculates a CIR of the third ranging signal. Next,the control section 230 detects a first incoming wave of the thirdranging signal of the wireless communication section 210A on the basisof the calculated CIR (Step S112).

The portable device 100 measures a time period T₁ from transmission timeof the first ranging signal to reception time of the second rangingsignal, and a time period T₂ from reception time of the second rangingsignal to transmission time of the third ranging signal. Here, thereception time of the second ranging signal is reception time of thefirst incoming wave of the second ranging signal detected in Step S108.Next, the portable device 100 transmits a signal including informationindicating the time period T₁ and the time period T₂ (Step S114). Forexample, such a signal is received by the wireless communication section210A.

The control section 230 measures a time period T₃ from reception time ofthe first ranging signal to transmission time of the second rangingsignal, and a time period T₄ from transmission time of the secondranging signal to reception time of the third ranging signal. Here, thereception time of the first ranging signal is reception time of thefirst incoming wave of the first ranging signal detected in Step S104.In a similar way, the reception time of the third ranging signal isreception time of the first incoming wave of the third ranging signaldetected in Step S112.

Next, the control section 230 estimates the distance R on the basis ofthe time periods T₁, T₂, T₃, and T₄ (Step S116). For example, thecontrol section 230 estimates propagation delay time τ_(m) by using anequation listed below.

$\begin{matrix}{\tau_{m} = \frac{{T_{1} \times T_{4}} - {T_{2} \times T_{3}}}{T_{1} + T_{2} + T_{3} + T_{4}}} & (1)\end{matrix}$

Next, the control section 230 estimates the distance R by multiplyingthe estimated propagation delay time τ_(m) by speed of the signal.

Cause of Reduction in Accuracy of Estimation

The reception times of the ranging signals serving as start or end ofthe time periods T₁, T₂, T₃, and T₄ are reception times of the firstincoming waves of the ranging signals. As described above, the signalsdetected as the first incoming wave are not necessarily the directwaves.

In the case where the combined wave or the delayed wave coming whilebeing delayed behind the direct wave is detected as the first incomingwave, reception time of the first incoming wave varies in comparisonwith the case where the direct wave is detected as the first incomingwave. In this case, an estimation result of the propagation delay timeτ_(m) is changed from a true value (an estimation result obtained in thecase where the direct wave is detected as the first incoming wave). Inaddition, this change deteriorates accuracy of estimating the distance R(hereinafter, also referred to as ranging accuracy).

(2) Angle Estimation

The communication unit 200 performs the angle estimation process. Theangle estimation process is a process of estimating the angles α and βillustrated in FIG. 3. An angle acquisition process includes receptionof an angle estimation signal and calculation of the angles α and β onthe basis of a result of reception of the angle estimation signal. Theangle estimation signal is a signal used for estimating an angle amongsignals transmitted/received between the portable device 100 and thecommunication unit 200. Next, with reference to FIG. 8, an example of aflow of the angle estimation process will be described.

FIG. 8 is a sequence diagram illustrating the example of the flow of theangle estimation process executed in the system 1 according to thepresent embodiment. The portable device 100 and the communication unit200 are involved in this sequence.

As illustrated in FIG. 8, the portable device 100 first transmits theangle estimation signals (Step S202). Next, when the wirelesscommunication sections 210A to 210D receive respective angle estimationsignals, the control section 230 calculates CIRs of the respective angleestimation signals received by the wireless communication sections 210Ato 210D. Next, the control section 230 detects first incoming waves ofthe respective angle estimation signals on the basis of the calculatedCIRs with regard to the wireless communication sections 210A to 210D(Step S204A to Step S204D). Next, the control section 230 detectsrespective phases of the detected first incoming waves with regard tothe wireless communication sections 210A to 210D (Step S206A to StepS206D). Next, the control section 230 estimates the angles α and β onthe basis of the respective phases of the detected first incoming waveswith regard to the wireless communication sections 210A to 210D (StepS208).

Next, details of the process in Step S208 will be described. P_(A)represents the phase of the first incoming wave detected with regard tothe wireless communication section 210A. P_(B) represents the phase ofthe first incoming wave detected with regard to the wirelesscommunication section 210B. P_(C) represents the phase of the firstincoming wave detected with regard to the wireless communication section210C. P_(D) represents the phase of the first incoming wave detectedwith regard to the wireless communication section 210D. In this case,antenna array phase differences Pd_(AC) and Pd_(BD) in the X axisdirection and antenna array phase differences Pd_(BA) and Pd_(DC) in theY axis direction are expressed in respective equations listed below.Pd _(AC)=(P _(A) −P _(C))Pd _(BD)=(P _(B) −P _(D))Pd _(DC)=(P _(D) −P _(C))Pd _(BA)=(P _(B) −P _(A))  (2)

The angles α and β are calculated by using the following equation. Here,λ represents wavelength of a carrier wave of the angle estimationsignal, and d represents a distance between the antennas 211.α or β=arccos(λ·Pd/(2·π·d))  (3)

Therefore, respective equations listed below represent angles calculatedon the basis of the respective antenna array phase differences.α_(AC)=arccos(λ·Pd _(AC)/(2·π·d))α_(BD)=arccos(λ·Pd _(BD)/(2·π·d))β_(DC)=arccos(λ·Pd _(DC)/(2·π·d))β_(BA)=arccos(λ·Pd _(BA)/(2·π·d))  (4)

The control section 230 calculates the angles α and β on the basis ofthe calculated angles α_(AC), α_(BD), β_(DC), and β_(BA). For example,as expressed in the following equations, the control section 230calculates the angles α and β by averaging the angles calculated withregard to the two respective arrays in the X axis direction and the Yaxis direction.α=(α_(AC)+α_(BD))/2β=(β_(DC)+β_(BA))/2  (5)

Cause of Reduction in Accuracy of Estimation

As described above, the angles α and β are calculated on the basis ofthe phases of the first incoming waves. As described above, the signalsdetected as the first incoming waves are not necessarily the directwaves.

In other words, sometimes the delayed wave or the combined wave may bedetected as the first incoming wave. Typically, phases of the delayedwave and the combined wave are different from the phase of the directwave. This difference deteriorates accuracy of angle estimation.

Supplement

Note that, the angle estimation signal may be transmitted/receivedduring the angle estimation process, or at any other timings. Forexample, the angle estimation signal may be transmitted/received duringthe ranging process. Specifically, the third ranging signal illustratedin FIG. 7 may be the same as the angle estimation signal illustrated inFIG. 8. In this case, it is possible for the communication unit 200 tocalculate the distance R, the angle α, and the angle β by receiving asingle wireless signal that serves as both the angle estimation signaland the third ranging signal.

(3) Coordinate Estimation

The control section 230 performs a coordinate estimation process. Thecoordinate estimation process is a process of estimatingthree-dimensional coordinates (x, y, z) of the portable device 100illustrated in FIG. 4. As the coordinate estimation process, a firstcalculation method and a second calculation method listed below may beadopted.

First Calculation Method

The first calculation method is a method of calculating the coordinatesx, y, and z on the basis of results of the ranging process and the angleestimation process. In this case, the control section 230 firstcalculates the coordinates x and y by using equations listed below.x=R·cos αy=R·cos β  (6)

Here, the distance R, the coordinate x, the coordinate y, and thecoordinate z have a relation represented by an equation listed below.R=√{square root over (x ² +y ² +z ²)}  (7)

The control section 230 calculates the coordinate z by using theabove-described relation and an equation listed below.z=√{square root over (R ² −R ²·cos² α−R·cos² β)}  (8)

Second Calculation Method

The second calculation method is a method of calculating the coordinatesx, y, and z while omitting estimation of the angles α and β. First, theabove-listed equations (4), (5), (6), and (7) establish a relationrepresented by equations listed below.x/R=cos α  (9)y/R=cos β  (10)x ² +y ² +z ² =R ²  (11)d·cos α=Δ·(Pd _(AC)/2+Pd _(BD)/2)/(2·π)  (12)d·cos β=λ·(Pd _(DC)/2+Pd _(BA)/2)/(2·π)  (13)

The equation (12) is rearranged for cos α, and cos α is substituted intothe equation (9). This makes it possible to obtain the coordinate x byusing an equation listed below.x=R·λ·(Pd _(AC)/2+Pd _(BD)/2)/(2·π·d)  (14)

The equation (13) is rearranged for cos β, and cos β is substituted intothe equation (10). This makes it possible to obtain the coordinate y byusing an equation listed below.y=R·λ·(Pd _(DC)/2+Pd _(BA)/2)/(2·π·d)  (15)

Next, the equation (14) and the equation (15) are substituted into theequation (11), and the equation (11) is rearranged. This makes itpossible to obtain the coordinate z by using an equation listed below.z=√{square root over (R ² −x ² −y ²)}  (16)

The process of estimating the coordinates of the portable device 100 inthe local coordinate system has been described above. It is alsopossible to estimate coordinates of the portable device 100 in theglobal coordinate system by combining the coordinates of the portabledevice 100 in the local coordinate system and coordinates of the originof the local coordinate system relative to the global coordinate system.

Cause of Reduction in Accuracy of Estimation

As described above, the coordinates are calculated on the basis of thepropagation delay time and phases. In addition, they are estimated onthe basis of the first incoming waves. Therefore, accuracy of estimatingthe coordinates may deteriorate in a way similar to the ranging processand the angle estimation process.

(4) Estimation of Existence Region

The positional parameter may include a region including the portabledevice 100 among a plurality of predefined regions. For example, in thecase where the region is defined by a distance from the communicationunit 200, the control section 230 estimates the region including theportable device 100 on the basis of the distance R estimated through theranging process. For another example, in the case where the region isdefined by an angle with respect to the communication unit 200, thecontrol section 230 estimates the region including the portable device100 on the basis of the angles α and β estimated through the angleestimation process. For another example, in the case where the region isdefined by the three-dimensional coordinates, the control section 230estimates the region including the portable device 100 on the basis ofthe coordinates (x, y, z) estimated through the coordinate estimationprocess.

Alternatively, in a process specific to the vehicle 202, the controlsection 230 may estimate the region including the portable device 100among the plurality of regions including the vehicle interior and thevehicle exterior of the vehicle 202. This makes it possible to providecourteous service such as providing different serves in the case wherethe user is in the vehicle interior and in the case where the user is inthe vehicle exterior. In addition, the control section 230 may estimatethe region including the portable device 100 among nearby region andfaraway region. The nearby region is a region within a predetermineddistance from the vehicle 202, and the faraway region is thepredetermined distance or more away from the vehicle 202.

(5) Use of Result of Estimating Positional Parameter

For example, a result of estimating the positional parameter may be usedfor authentication of the portable device 100. For example, the controlsection 230 determines that the authentication is successful and unlocka door in the case where the portable device 100 is in a region close tothe communication unit 200 on a driver seat side.

3. Technical Problem

The plurality of wireless communication sections 210 may include both awireless communication section 210 in a line-of-sight (LOS) conditionand a wireless communication section 210 in a non-line-of-sight (NLOS)condition.

The LOS condition means that the antenna 111 of the portable device 100and the antenna 211 of the wireless communication section 210 arevisible from each other. In the case of the LOS condition, a highestreception electric power of the direct wave is obtained. Therefore,there is a high possibility that the receiver succeeds in detecting thedirect wave as the first incoming wave.

The NLOS condition means that the antenna 111 of the portable device 100and the antenna 211 of the wireless communication section 210 are notvisible from each other. In the case of the NLOS condition, receptionelectric power of the direct wave may become lower than the others.Therefore, there is a possibility that the receiver fails in detectingthe direct wave as the first incoming wave.

In the case where the wireless communication section 210 is in the NLOScondition, reception electric power of the direct wave is smaller thannoise among signals came from the portable device 100. Accordingly, evenif detection of the direct wave as the first incoming wave issuccessful, the phase and reception time of the first incoming wave maybe changed due to an effect of the noise. In this case, accuracy ofranging and accuracy of angle estimation deteriorate.

In addition, in the case where the wireless communication section 210 isin the NLOS condition, reception electric power of the direct wavebecomes lower than the case where the wireless communication section 210is in the LOS condition, and detection of the direct wave as the firstincoming wave may end in failure. In this case, accuracy of ranging andaccuracy of angle estimation deteriorate.

Therefore, according to the present embodiment, there is provided thetechnology that makes it possible to improve the accuracy of estimatingthe positional parameter by estimating the positional parameter on thebasis of a first incoming wave in the case where there is a highpossibility that the direct wave is successfully detected as the firstincoming wave.

4. Technical Features

(1) Overview

The control section 230 detects a specific element on the basis of afirst threshold with regard to each of CIRs respectively obtained fromthe plurality of wireless communication sections 210. The specificelement is one or more of a plurality of elements included in the CIR.Specifically, to detect the specific element on the basis of the firstthreshold, the control section 230 detects one or more element whoseamplitude component included in the CIR value exceeds the firstthreshold, as the specific element. The amplitude component included inthe CIR value may be amplitude itself or electric power obtained bysquaring the amplitude.

The specific element is an element corresponding to the first incomingwave. Time corresponding to delay time of the specific element serves astime of receiving the first incoming wave and is used for ranging. Inaddition, the phase of the specific element serves as the phase of thefirst incoming wave and is used for angle estimation. In other words,the control section 230 detects the specific element to be used for thepositional parameter estimation with regard to the plurality of wirelesscommunication sections 210.

For example, to detect the specific element on the basis of the firstthreshold, the control section 230 detects an element having amplitudeor electric power that exceeds the first threshold for the first time,as the specific element. The amplitude or electric power serves as theCIR value. In this case, the specific elements are detected one by onewith regard to the plurality of CIR s obtained with regard to theplurality of wireless communication sections 210. The first threshold isthe above-described first path threshold. In other words, the specificelement is an element whose CIR value exceeds the first path thresholdfor the first time, among the plurality of elements included in the CIR.This makes it possible to reduce computational load for detecting thespecific elements in comparison with the case of detecting the pluralityof specific elements from a single CIR.

The control section 230 calculates the reliability parameter. Thereliability parameter is an indicator indicating whether the detectedspecific element is appropriate for a processing target. Morespecifically, the reliability parameter is an indicator indicatingwhether it is appropriate to use the detected specific element forestimating the positional parameter. When mention is made of a pluralityof the specific elements detected with regard to the respective wirelesscommunication sections 210, the reliability parameter is an indicatorindicating whether each of the detected specific elements is appropriatefor the processing target.

When the specific element is appropriate for the processing target, thespecific element corresponds to a direct wave. On the other hand, whenthe specific element is inappropriate for the processing target, thespecific element does not correspond to the direct wave. In other words,the reliability parameter can be treated as an indicator that indicatessuitability of the detected specific element for an elementcorresponding to the direct wave. In the case where the detectedspecific element corresponds to a delayed wave or a combined wave, thatis, in the case where the delayed wave or the combined wave is detectedas the first incoming wave, the accuracy of estimating the positionalparameter deteriorates as described above. Therefore, it is possible toevaluate the accuracy of estimating the positional parameter on thebasis of the reliability parameter.

For example, the reliability parameters are continuous values ordiscrete values. As the reliability parameter has a higher value, thereliability parameter may indicate that the specific element isappropriate for the processing target. In a similar way, if thereliability parameter has a lower value, the reliability parameter mayindicate that the specific element is inappropriate for the processingtarget, and vice versa. Hereinafter, a degree of appropriateness of thespecific element as the processing target may also be referred to asreliability. In addition, high reliability means that the specificelement is appropriate for the processing target, and low reliabilitymeans that the specific element is inappropriate as the processingtarget.

The control section 230 detects the specific elements and calculates thereliability parameters on the basis of the transmission signaltransmitted from the portable device 100 in the positional parameterestimation process and the respective reception signal obtained when theplurality of wireless communication sections 210 receive thetransmission signal. Such a transmission signal may be the rangingsignal or the angle estimation signal. For example, such a transmissionsignal may be a signal that is the third ranging signal illustrated inFIG. 7 and that also serves as the angle estimation signal.

Details of a method of calculating the reliability parameter will bedescribed later.

The control section 230 controls a positional parameter determinationprocess on the basis of the reliability parameter. The positionalparameter determination process is a process of estimating a positionalparameter indicating a position of the portable device 100 on the basisof the detected specific element. Specifically, the control section 230selects a specific element corresponding to a reliability parameter withthe highest reliability, or a reliability parameter indicatingreliability that exceeds a predetermined threshold. Next, the controlsection 230 estimates a positional parameter on the basis of theselected specific element.

For example, the control section 230 performs ranging on the basis ofdelay time of the selected specific element. For another example, thecontrol section 230 estimates an angle on the basis of the phase of theselected specific element. For another example, the control section 230estimates coordinates on the basis of the phase and the delay time ofthe selected specific element. Anyway, it is possible to estimate thepositional parameter on the basis of the specific element with highreliability. This makes it possible to improve accuracy of estimatingthe positional parameter. Note that, details of a process of controllingthe positional parameter estimation process on the basis of thereliability parameter will be described later.

(2) Reliability Parameter

First Reliability Parameter

The reliability parameter may include a first reliability parameter thatis a difference between delay time of a first element and delay time ofa second element of the CIR. The first element has a peak CIR value forthe first time after the specific element, and the second element hasthe peak CIR value for the second time after the specific element.Details of the first reliability parameter will be described withreference to FIG. 9 and FIG. 10.

FIG. 9 and FIG. 10 are graphs illustrating examples of the CIR s. Thegraph includes a horizontal axis representing delay time. The graphincludes a vertical axis representing absolute values of CIR values(such as electric power or amplitude).

The CIR illustrated in FIG. 9 include a set 21 of elements correspondingto the direct wave, and a set 22 of elements corresponding to thedelayed wave. The set 21 includes a specific element SP_(FP) that is anelement whose CIR value exceeds a first path threshold TH_(FP) for thefirst time. In other words, the set 21 corresponds to the first incomingwave. The set 21 includes a first element SP_(P1) having a peak CIRvalue for the first time after the specific element SP_(FP). On theother hand, the set 22 includes a second element SP_(P2) having a peakCIR value for the second time after the specific element SP_(FP).

The CIR illustrated in FIG. 10 includes a set 23 of elementscorresponding to the combined wave received in a state where the directwave is combined with the delayed wave having a different phase from thedirect wave. The CIR waveform of the set 23 has two peaks because twowaves having different phases are combined. The CIR waveform of the set23 has two peaks because two waves having different phases are combined.The set 23 includes a specific element SP_(FP) that is an element whoseCIR value exceeds a first path threshold TH_(FP) for the first time. Inother words, the set 23 corresponds to the first incoming wave. The set23 includes a first element SP_(P1) having a peak CIR value for thefirst time after the specific element SP_(FP). The set 23 includes asecond element SP_(P2) having a peak CIR value for the second time afterthe specific element SP_(FP).

In the case where the direct wave is detected as the first incomingwave, the first incoming wave has a CIR waveform with a single peak asillustrated in FIG. 9. On the other hand, in the case where the combinedwave is detected as the first incoming wave, the first incoming wave hasa CIR waveform with multiple peaks as illustrated in FIG. 10. Inaddition, it is possible to determine whether the first incoming wavehas the CIR waveform with the single peak or the multiple peaks on thebasis of a difference T_(P1−P2) between the delay time T_(P1) of thefirst element SP_(P1) and the delay time T_(P2) of the second elementSP_(P2). This is because a large difference T_(P1−P2) is obtained in thecase where the first incoming wave has the CIR waveform with the singlepeak. In addition, a smaller difference T_(P1−P2) is obtained in thecase where the first incoming wave has the CIR waveform with themultiple peaks.

In the case where the combined wave is detected as the first incomingwave, accuracy of estimating the positional parameter deteriorates incomparison with the case where the direct wave is detected as the firstincoming wave. Therefore, it can be said that the larger differenceT_(P1−P2) means higher reliability. As described above, it is possibleto evaluate reliability by using the difference T_(P1−P2). Thedifference T_(P1−P2) is the first reliability parameter.

Therefore, to control the positional parameter estimation process on thebasis of the reliability parameter, the control section 230 estimatesthe positional parameter on the basis of the specific element whosedifference T_(P1−P2) indicated by the reliability parameter is largerthan a second threshold. For example, the control section 230 determinesthat the difference T_(P1−P2) illustrated in FIG. 9 is larger than thesecond threshold, and estimates the positional parameter on the basis ofthe specific element SP_(FP) illustrated in FIG. 9. For another example,the control section 230 determines that the difference T_(P1−P2)illustrated in FIG. 10 is smaller than the second threshold, and doesnot estimate the positional parameter on the basis of the specificelement SP_(FP) illustrated in FIG. 10. Such a configuration makes itpossible to estimate the positional parameter on the basis of thespecific element obtained in the case where there is a high possibilitythat the direct wave is detected as the first incoming wave. This makesit possible to improve accuracy of estimating a positional parameter.

Here, an interval between a plurality of peaks included in the CIRwaveform of the combined wave is smaller than the width of the singlepulse. On the other hand, an interval between respective peaks of twoseparate waves is larger than the width of the single pulse. Therefore,the second threshold may be set to any value that is less than or equalto the width of the pulse. This makes it possible to determine whetheror not the combined wave is detected as the first incoming wave.

Second Reliability Parameter

The reliability parameter may include a second reliability parameterderived from correlation between CIR waveforms of the wirelesscommunication sections 210 in a pair. Details of the second reliabilityparameter will be described with reference to FIG. 11.

FIG. 11 is graphs illustrating examples of CIRs with regard to theplurality of wireless communication sections 210. A CIR 20A illustratedin FIG. 11 is a graph illustrating an example of a CIR with regard to awireless communication section 210A. A CIR 20B illustrated in FIG. 11 isa graph illustrating an example of a CIR with regard to a wirelesscommunication section 210B. Each graph includes a horizontal axisrepresenting delay time. It is assumed that a time axis of the CIR 20Ais synchronous with a time axis of the CIR 20B. The graph includes avertical axis representing absolute values of CIR values (such asamplitude or electric power).

The CIR 20A includes a set 23A of elements corresponding to the combinedwave received in a state where the direct wave is combined with thedelayed wave having a different phase from the direct wave. The CIRwaveform of the set 23A has two peaks because two waves having differentphases are combined. The set 23A includes a specific element SP_(FP)that is an element whose CIR value exceeds the first path thresholdTH_(FP) for the first time. In other words, the set 23A corresponds tothe first incoming wave.

On the other hand, the CIR 20B includes a set 23B of elementscorresponding to the combined wave received in a state where the directwave is combined with the delayed wave having a same phase as the directwave. The CIR waveform of the set 23 has a single large peak because twowaves having the same phase are combined. The set 23B includes aspecific element SP_(FP) that is an element whose CIR value exceeds thefirst path threshold TH_(FP) for the first time. In other words, the set23B corresponds to the first incoming wave.

In the case where the plurality of wireless communication sections 210receive signals in the state where the direct wave is combined with thedelayed wave, the wireless communication sections 210 have differentrelations of phases of the direct wave and the delayed wave even if adistance between the wireless communication sections 210 is short. As aresult, different CIR waveforms are obtained as illustrated in the CIR20A and CIR 20B. In other words, the different CIR waveforms between thewireless communication sections 210 in a pair mean that a combined waveis received by at least one of the wireless communication sections 210in the pair. In the case where the combined wave is detected as thefirst incoming wave, that is, in the case where detection of thespecific element corresponding to the direct wave ends in failure,accuracy of estimating the positional parameter deteriorates.

Accordingly, the second reliability parameter may be a correlationcoefficient between a CIR obtained on the basis of reception signalreceived by a first wireless communication section 210 among theplurality of wireless communication sections 210, and a CIR obtained onthe basis of a reception signal received by a second wirelesscommunication section 210 that is different from the first wirelesscommunication section 210 among the plurality of wireless communicationsections 210. In other words, the second reliability parameter may be acorrelation coefficient between a waveform of the entire CIR calculatedwith regard to the first wireless communication section 210 and awaveform of the entire CIR calculated with regard to the second wirelesscommunication section 210. In addition, the control section 230determines that reliability gets higher as the correlation coefficientincreases. On the other hand, the control section 230 determines thatreliability gets lower as the correlation coefficient decreases. Such aconfiguration makes it possible to evaluate reliability from a viewpointof correlation between CIR waveforms.

Here, the delay time and the phase of the specific element is used forthe process of estimating the positional parameter. Therefore, thereliability parameter may be derived from correlation between CIRwaveforms close to the specific element.

In other words, the second reliability parameter may be a correlationcoefficient between chronological change in CIR value of a portionincluding the specific element in the CIR obtained on the basis ofreception signal received by the first wireless communication section210 among the plurality of wireless communication sections 210, andchronological change in CIR value of a portion including the specificelement in the CIR obtained on the basis of the reception signalreceived by the second wireless communication section 210 that isdifferent from the first wireless communication section 210 among theplurality of wireless communication sections 210. Here, the portionmeans a set including the specific element and one or more elements thatexist before and/or after the specific element. In other words, thesecond reliability parameter may be a correlation coefficient between awaveform obtained in a vicinity of the specific element in the CIRcalculated with regard to the first wireless communication section 210,and a waveform obtained in a vicinity of the specific element in the CIRcalculated with regard to the second wireless communication section 210.In addition, the control section 230 determines that reliability getshigher as the correlation coefficient increases. On the other hand, thecontrol section 230 determines that reliability gets lower as thecorrelation coefficient decreases. Such a configuration makes itpossible to evaluate reliability from a viewpoint of correlation betweenCIR waveforms obtained in the vicinity of the specific element. Inaddition, such a configuration makes it possible to reduce an amount ofcalculation in comparison with the case of correlating waveforms of theentire CIR s.

To control the positional parameter estimation process on the basis ofthe reliability parameter, the control section 230 estimates thepositional parameter on the basis of the specific element whosecorrelation coefficient indicated by the reliability parameter is higherthan a third threshold. For example, the control section 230 calculatesthe correlation coefficient with regard to one or more pairs of anywireless communication sections 210. Next, in the case where all of theone or more correlation coefficients that have been calculated arehigher than the third threshold, the control section 230 estimates thepositional parameter on the basis of the specific elements detected withregard to the plurality of wireless communication sections 210. In othercases, the control section 230 does not estimate the positionalparameter. Such a configuration makes it possible to estimate thepositional parameter on the basis of the specific element obtained inthe case where there is a high possibility that the direct wave isdetected as the first incoming wave with regard to each of the pluralityof wireless communication sections 210. This makes it possible toimprove accuracy of estimating a positional parameter.

Note that, the correlation coefficient may be the Pearson correlationcoefficient.

The CIR may include amplitude or electric power, which is a CIR value,as an element obtained at each delay time. In this case, the controlsection 230 calculates a correlation coefficient by correlatingrespective amplitudes or electric powers obtained at corresponding delaytimes, which are included in the two CIRs. Note that, the correspondingdelay times indicates a same delay time in an environment where the timeaxes of the two CIRs are synchronous with each other.

The CIR may include a complex number, which is a CIR value, as theelement obtained at each delay time. In this case, the control section230 calculates a correlation coefficient by correlating respectivecomplex numbers obtained at corresponding delay times, which areincluded in the two CIRs. The complex number includes a phase componentin addition to an amplitude component. Therefore, it is possible tocalculate a more accurate correlation coefficient than the case ofcalculating a correlation coefficient on the basis of amplitude orelectric power.

Third Reliability Parameter

The reliability parameter may include a third reliability parameter thatis a difference between delay time of a specific element and delay timeof an element having a maximum CIT value in a CIR. Details of the thirdreliability parameter will be described with reference to FIG. 12 andFIG. 13.

FIG. 12 is a graph illustrating an example of a CIR with regard to thewireless communication section 210 in the LOS condition. FIG. 13 is agraph illustrating an example of a CIR with regard to the wirelesscommunication section 210 in the NLOS condition. The graph includes ahorizontal axis representing delay time. The graph includes a verticalaxis representing absolute values of CIR values (such as electric poweror amplitude).

The CIR illustrated in FIG. 12 include a set 21 of elementscorresponding to the direct wave, and a set 22 of elements correspondingto the delayed wave. The set 21 includes a specific element SP_(FP) thatis an element whose CIR value exceeds a first path threshold TH_(FP) forthe first time. In other words, the set 21 corresponds to the firstincoming wave. In addition, the set 21 includes an element SP_(PP)having a maximum CIR value in the CIR.

The CIR illustrated in FIG. 13 include a set 21 of elementscorresponding to the direct wave, and a set 22 of elements correspondingto the delayed wave. The set 21 includes a specific element SP_(FP) thatis an element whose CIR value exceeds a first path threshold TH_(FP) forthe first time. In other words, the set 21 corresponds to the firstincoming wave. On the other hand, the set 22 includes an element SP_(PP)having a maximum CIR value in the CIR.

In the case of the LOS condition, the direct wave has the largest CIRvalue. Therefore, as illustrated in FIG. 12, the set 21 corresponding tothe direct wave includes the element SP_(PP) having the maximum CIRvalue in the CIR.

On the other hand, in the case of the NLOS condition, a CIR value of thedelayed wave may be larger than a CIR value of the direct wave. In thecase of the NLOS condition, this is because there is an obstacle in thefirst path. In particular, in the case where a human body is interposedin the first path, the direct wave drastically attenuates when thedirect wave passes through the human body. In this case, as illustratedin FIG. 13, the set 21 corresponding to the direct wave does not includethe element SP_(PP) having the maximum CIR value in the CIR.

It is possible to determine whether the wireless communication section210 is in the LOS condition or the NLOS condition, on the basis of adifference T_(FP−PP) between delay time T_(FP) of the specific elementSP_(FP) and delay time T_(PP) of the element SP_(PP) having the maximumCIR value in the CIR. This is because the difference T_(FP−PP) may besmall in the case where the wireless communication section 210 is in theLOS condition as illustrated in FIG. 12. In addition, the differenceT_(FP−PP) may be large in the case where the wireless communicationsection 210 is in the NLOS condition as illustrated in FIG. 13.

In the case of the NLOS condition, the accuracy of estimating thepositional parameter deteriorates in comparison with the case of the LOScondition. Therefore, it can be said that higher reliability is obtainedas the difference T_(FP−PP) decreases. As described above, it ispossible to evaluate reliability by using the difference T_(FP−PP). Thedifference T_(FP−PP) is the third reliability parameter.

Therefore, to control the positional parameter estimation process on thebasis of the reliability parameter, the control section 230 estimatesthe positional parameter on the basis of the specific element whosedifference T_(FP−PP) indicated by the reliability parameter is smallerthan a fourth threshold. For example, the control section 230 determinesthat the difference T_(FP−PP) illustrated in FIG. 12 is smaller than thefourth threshold, and estimates the positional parameter on the basis ofthe specific element SP_(FP) illustrated in FIG. 12. For anotherexample, the control section 230 determines that the differenceT_(FP−PP) illustrated in FIG. 13 is larger than the fourth threshold,and does not estimate the positional parameter on the basis of thespecific element SP_(FP) illustrated in FIG. 13. Such a configurationmakes it possible to estimate the positional parameter on the basis ofthe specific element that is likely to be detected with regard to thewireless communication section 210 in the LOS condition. This makes itpossible to improve accuracy of estimating a positional parameter.

Fourth Reliability Parameter

The reliability parameter may include a fourth reliability parameterthat is between electric power corresponding to a specific element in aCIR obtained on the basis of reception signal received by a firstwireless communication section 210 among the plurality of wirelesscommunication sections 210, and electric power corresponding to aspecific element in a CIR obtained on the basis of a reception signalreceived by a second wireless communication section 210 that isdifferent from the first wireless communication section 210 among theplurality of wireless communication sections 210. Next, details of thefourth reliability parameter will be described.

Hereinafter, the electric power corresponding to the specific elementwill be referred to as first-path-compliant electric power. For example,the first-path-compliant electric power may be electric power of anelement having a peak CIR value for the first time after the specificelement. The electric power serves as the CIR value. For anotherexample, the first-path-compliant electric power may be a sum ofelectric powers of the specific element and one or more elementsubsequent to the specific element. The electric power serves as the CIRvalue.

A difference in the first-path-compliant electric power between thewireless communication sections 210 in a pair is decided by a differencebetween propagation distances from the portable device 100 to therespective wireless communication sections 210. This is because theradio wave attenuates in proportion to a square of the propagationdistance. Note that, distances between the wireless communicationsections 210 are set to a half or less of wavelength λ of a carrier waveof an angle estimation signal. Therefore, there is little difference inthe propagation distances from the portable device 100 to the respectivewireless communication sections 210. In other words, ideally, thefirst-path-compliant electric powers do not differ greatly between thewireless communication sections 210 in a pair.

However, first-path-compliant electric powers may differ greatly betweenthe wireless communication sections 210 in the case where the combinedwave is detected as the first incoming wave with regard to one of thewireless communication sections 210 in the pair. This is because thewireless communication sections 210 may have different relations ofphases of two pulses to be combined even if a distance between thewireless communication sections 210 is short. For example, in the casewhere the two pulses to be combined have a same phase, the two pulsesreinforce each other. Therefore, large first-path-compliant electricpower is obtained with regard to the combined wave detected as the firstincoming wave. For another example, in the case where the two pulses tobe combined have opposite phases, the two pulses annihilate each other.Therefore, small first-path-compliant electric power is obtained withregard to the combined wave detected as the first incoming wave.

In the case where the combined wave is detected as the first incomingwave, accuracy of estimating the positional parameter deteriorates incomparison with the case where the direct wave is detected as the firstincoming wave. Therefore, it can be said that higher reliability isobtained as a difference in the first-path-compliant electric powerbetween the wireless communication sections 210 reduces. As describedabove, it is possible to evaluate reliability by using the difference inthe first-path-compliant electric power between the wirelesscommunication sections 210. The difference in the first-path-compliantelectric power between the wireless communication sections 201 is thefourth reliability parameter.

Therefore, to control the positional parameter estimation process on thebasis of the reliability parameter, the control section 230 estimatesthe positional parameter on the basis of the specific element whosedifference in the first-path-compliant electric power between thewireless communication sections 210 indicated by the reliabilityparameter is smaller than a fifth threshold. For example, the controlsection 230 calculates the difference in the first-path-compliantelectric power with regard to one or more pairs of any wirelesscommunication sections 210. Next, in the case where all of the one ormore differences in the first-path-compliant electric power are lowerthan the fifth threshold, the control section 230 estimates thepositional parameter on the basis of the respective specific elementsdetected with regard to the plurality of wireless communication sections210. In other cases, the control section 230 does not estimate thepositional parameter. Such a configuration makes it possible to estimatethe positional parameter on the basis of the specific element obtainedin the case where there is a high possibility that the direct wave isdetected as the first incoming wave with regard to each of the pluralityof wireless communication sections 210. This makes it possible toimprove accuracy of estimating a positional parameter.

Fifth Reliability Parameter

The fifth reliability parameter is an indicator that indicates whetherthe first incoming wave itself is the appropriate detection target. Inother words, the fifth reliability parameter is an indicator thatindicates whether the specific element itself is the appropriatedetection target. Higher reliability is obtained as the first incomingwave is more appropriate for the processing target, and lowerreliability is obtained as the first incoming wave is more inappropriatefor the processing target.

Specifically, the fifth reliability parameter may be an indicator thatindicates magnitude of noise. In this case, the fifth reliabilityparameter is calculated on the basis of at least any of asignal-to-noise ratio (SNR) and electric power of the first incomingwave. In the case where the electric power is high, influence of thenoise is small. Therefore, the fifth reliability parameter indicatingthat the first incoming wave is appropriate for the detection target iscalculated. On the other hand, in the case where the electric power islow, influence of the noise is small. Therefore, the fifth reliabilityparameter indicating that the first incoming wave is inappropriate forthe detection target is calculated. In the case where the SNR is high,the influence of the noise is small. Therefore, the fifth reliabilityparameter indicating that the first incoming wave is appropriate for thedetection target is calculated. On the other hand, in the case where theSNR is low, effects of the noise are large. Therefore, the fifthreliability parameter indicating that the first incoming wave isinappropriate for the detection target is calculated.

By using the fifth reliability parameter, it is possible to evaluatereliability on the basis of whether the first incoming wave itself isappropriate for the detection target.

Sixth Reliability Parameter

The sixth reliability parameter is an indicator that indicates adequacyof a direct wave for the first incoming wave. In other words, the sixthreliability parameter is an indicator that indicates suitability of thespecific element for an element corresponding to the direct wave. Higherreliability is obtained as the adequacy of the direct wave for the firstincoming wave gets higher, and lower reliability is obtained as theadequacy of the direct wave for the first incoming wave gets lower.

The sixth reliability parameter may be calculated on the basis ofconsistency between the respective first incoming waves of the pluralityof the wireless communication sections 210. Specifically, the sixthreliability parameter is calculated on the basis of at least any ofreception time and electric power of the first incoming wave with regardto each of the plurality of wireless communication sections 210. By theeffect of multipath, a plurality of wireless signals coming throughdifferent paths may be combined and received by the wirelesscommunication sections 210 in a state where the signals are amplified oroffset. Next, in the case where ways of amplifying and offsetting thewireless signals are different between the plurality of wirelesscommunication sections 210, different reception times and differentelectric power values may be obtained with regard to the first incomingwaves between the wireless communication sections 210. When consideringthat distances between the wireless communication sections 210 are shortdistances that are a half or less of the wavelength λ of the angleestimation signal, a large difference in the reception times andelectric powers of the first incoming waves between the wirelesscommunication sections 210 means low suitability of the direct waves forthe first incoming waves.

Therefore, a sixth reliability parameter is calculated in such a mannerthat the sixth reliability parameter indicates that the suitability ofthe direct waves for the first incoming waves gets lower as thedifference in reception time of the first incoming wave (that is, delaytime of the specific element) between the wireless communicationsections 210 gets larger. On the other hand, the sixth reliabilityparameter is calculated in such a manner that the sixth reliabilityparameter indicates that the suitability of the direct waves for thefirst incoming waves gets higher as the difference in reception time ofthe first incoming wave between the wireless communication sections 210gets smaller. In addition, the sixth reliability parameter is calculatedin such a manner that the sixth reliability parameter indicates that thesuitability of the direct wave for the first incoming wave gets lower asthe difference in electric power of the first incoming wave between thewireless communication sections 210 gets larger. On the other hand, thesixth reliability parameter is calculated in such a manner that thesixth reliability parameter indicates that the suitability of the directwave for the first incoming wave gets higher as the difference inelectric power of the first the first incoming wave between the wirelesscommunication sections 210 gets smaller.

The sixth reliability parameter may be calculated on the basis ofconsistency between positional parameters indicating positions of theportable device 100 estimated on the basis of the respective firstincoming waves received by the plurality of wireless communicationsections 210 in pairs. Each of the pair includes two different wirelesscommunication sections 210 among the plurality of wireless communicationsections 210. Here, the positional parameters are the angles α and βillustrated in FIG. 3 and the coordinates (x, y, z) illustrated in FIG.4. In the case where the first incoming waves are the direct waves, sameor substantially same results are obtained with regard to the angles αand β and the coordinates (x, y, z) even if different combinations areused as the pairs of the wireless communication sections 210 forcalculating the angles α and β and the coordinates (x, y, z). However,in the case where the first incoming waves are not the direct waves,different results may be obtained from the different pairs of thewireless communication sections 210 with regard to the angles α and βand the coordinates (x, y, z).

Accordingly, the sixth reliability parameter is calculated in such amanner that the sixth reliability parameter indicates that the adequacyof the direct waves for the first incoming waves gets higher as thedifference in positional parameter calculation result between differentcombinations of the antenna pairs. For example, the sixth reliabilityparameter is calculated in such a manner that the sixth reliabilityparameter indicates that the adequacy of the direct waves for the firstincoming waves gets higher as an error between α_(AC) and α_(BD) getssmaller and as an error between β_(DC) and β_(BA) gets smaller. On theother hand, the sixth reliability parameter is calculated in such amanner that the sixth reliability parameter indicates that the adequacyof the direct waves for the first incoming waves gets lower as thedifference in positional parameter calculation result between differentcombinations of the antenna pairs gets larger. For example, the sixthreliability parameter is calculated in such a manner that the sixthreliability parameter indicates that the adequacy of a direct waves forthe first incoming waves gets lower as an error between α_(AC) andα_(BD) gets larger and as an error between β_(DC) and β_(BA) getslarger. These angles have been described above with regard to the angleestimation process.

By using the sixth reliability parameter, it is possible to evaluate thereliability on the basis of the adequacy of the direct waves for thefirst incoming waves.

Seventh Reliability Parameter

The seventh reliability parameter is an indicator that indicatesinadequacy of a combined wave for the first incoming wave. In otherwords, the seventh reliability parameter is an indicator that indicatesunsuitability of the specific element for the combined wave. Higherreliability is obtained as the unsuitability of the combined wave forthe first incoming wave gets higher, and lower reliability is obtainedas the suitability of the combined wave for the first incoming wave getslower.

Specifically, the seventh reliability parameter is calculated on thebasis of at least any of width of the first incoming wave in the timedirection and a state of the phase of the first incoming wave.

First, with reference to FIG. 14, calculation of the seventh reliabilityparameter based on the width of the first incoming wave in the timedirection will be described. Here, the width of the first incoming wavein the time direction may be width of an element corresponding to thefirst incoming wave in the time direction, with regard to the CIR.

FIG. 14 is diagrams for describing examples of the reliability parameteraccording to the present embodiment. In the case where the direct waveis independently received as illustrated in the top of FIG. 14, width Wof a set 21 of elements corresponding to the direct wave in the CIRserves as an ideal width obtained when only the direct wave is detectedas the first incoming wave. Here, the width W is width of a set ofelements corresponding to a single pulse in the time direction. Forexample, the width W is width between a zero-crossing and anotherzero-crossing. For another example, the width W is width betweenintersections of a standard and varied CIR values. On the other hand,when the wireless communication sections 210 receive the plurality ofwireless signals came through different paths in a state where theplurality of pulses are combined, the width W of a set of elementscorresponding to the combined wave in the CIR may be different from theideal width obtained when only the direct wave is detected as the firstincoming wave, due to influence of multipath. For example, when adelayed wave having a same phase as the direct wave is received in sucha manner that the delayed wave is combined with the direct wave asillustrated in the bottom of FIG. 14, the set 21 of elementscorresponding to the direct wave and the set 22 of elementscorresponding to the delayed wave are added in a state where they areshifted in the time direction. Therefore, the set 23 of elementscorresponding to the combined wave in the CIR has a wide width W. On theother hand, when a delayed wave having an opposite phase from the directwave is received in such a manner that the delayed wave is combined withthe direct wave, the direct wave and the delayed wave annihilate eachother. Therefore, a set of elements corresponding to the combined wavein the CIR has a narrow width W.

As described above, the seventh reliability parameter is calculated insuch a manner that the seventh reliability parameter indicates that theinadequacy of the combined wave for the first incoming wave gets higheras the difference between the width of the first incoming wave and theideal width obtained when only the direct wave is detected as the firstincoming wave gets smaller. On the other hand, the seventh reliabilityparameter is calculated in such a manner that the seventh reliabilityparameter indicates that the inadequacy of the combined wave for thefirst incoming wave gets lower as the difference between the width ofthe first incoming wave and the ideal width obtained when only thedirect wave is detected as the first incoming wave gets larger.

Next, with reference to FIG. 15, calculation of the seventh reliabilityparameter based on a state of phase of the first incoming wave will bedescribed. Here, the state of the phase of the first incoming wave maybe a degree of difference in phase between elements corresponding to thefirst incoming wave in the received wireless signal. Alternatively, thestate of the phase of the first incoming wave may be a degree ofdifference in phase between elements corresponding to the first incomingwave in the CIR.

FIG. 15 is diagrams for describing examples of the reliability parameteraccording to the present embodiment. In the case where only the directwave is independently received as illustrated in the top of FIG. 15,respective phases θ of a plurality of elements belonging to the set 21corresponding to the direct wave in the CIR are a same or substantiallysame phase (that is, θ1≈θ2≈θ3). Note that, the phase is an angle betweenIQ components of a CIR and an I axis on an IQ plane. This is becausedistances of paths of direct waves are the same with regard to therespective elements. On the other hand, in the case where the combinedwave is received as illustrated in the bottom of FIG. 15, respectivephases θ of a plurality of elements belonging to the set 23 of elementscorresponding to the combined wave in the CIR are different phases (thatis, θ1≠θ2≠θ3). This is because pulses having different distances betweenthe transmitter and the receiver, that is, the pulses having differentphases are combined. As described above, the seventh reliabilityparameter is calculated in such a manner that the seventh reliabilityparameter indicates that the unsuitability of the combined wave for thefirst incoming wave gets higher as the difference between the phases ofelements corresponding to the first incoming wave gets smaller. On theother hand, the seventh reliability parameter is also calculated in sucha manner that the seventh reliability parameter indicates that theunsuitability of the combined wave for the first incoming wave getslower as the difference between the phases of the elements correspondingto the first incoming wave gets larger.

By using the seventh reliability parameter, it is possible to evaluatethe reliability on the basis of the unsuitability of the combined wavefor the first incoming wave.

(3) Flow of Process

Various kinds of methods can be used for controlling the positionalparameter estimation process on the basis of the reliability parameter.Next, two specific examples will be described with regard to the controlmethods.

First Example

The control section 230 may repeatedly perform position estimationcommunication N number of times. The position estimation communicationmeans that the plurality of wireless communication sections 201 receivea wireless signal (ranging signal and/or angle estimation signal) fromthe portable device 100. N is an integer that is two or more.

The control section 230 calculates respective CIR s with regard to theplurality of wireless communication sections 210 on the basis of thereception signals received by the plurality of wireless communicationsections 210 through single position measurement communication. Next,the control section 230 detects the specific elements with regard to theplurality of wireless communication sections 210. In addition, thecontrol section 230 calculates the reliability parameters.

By repeatedly performing the position estimation communication N numberof times, it is possible for the communication unit 200 to obtain Nnumber of combinations of the plurality of specific elements andreliability parameters detected with regard to the respective wirelesscommunication sections 210.

The control section 230 performs the positional parameter estimationprocess on the basis of the specific element in a combination. Thecombination includes a reliability parameter with the highestreliability or a reliability parameter indicating higher reliabilitythan a predetermined threshold, among the N number of combinations. Sucha configuration makes it possible to estimate the positional parameteron the basis of a specific element with the highest reliability or aspecific element with higher reliability than the predeterminedthreshold, among specific elements obtained through N number of times ofthe position estimation communication. This makes it possible to improveaccuracy of estimating a positional parameter.

Next, with reference to FIG. 16, a flow of a process will be describedwith regard to such an example. FIG. 16 is a flowchart illustrating anexample of a flow of a control process of a positional parameterestimation process executed by the communication unit 200 according tothe present embodiment on the basis of the reliability parameters.

As illustrated in FIG. 16, the communication unit 200 first repeatedlyperforms the position estimation communication N number of times (StepS302).

Next, the control section 230 detects the specific elements andcalculates the reliability parameters on the basis of CIR s obtainedthrough the N number of times of position estimation communication (StepS304). This makes it possible to obtain N number of combinations of theplurality of specific elements and reliability parameters detected withregard to the respective wireless communication sections 210.

Next, the control section 230 estimates a positional parameter of theportable device 100 on the basis of N number of combinations of thespecific elements and the reliability parameters obtained in Step S304(Step S306). Specifically, the control section 230 performs thepositional parameter estimation process on the basis of the specificelement in a combination including a reliability parameter with thehighest reliability or a reliability parameter indicating higherreliability than the predetermined threshold, among the N number ofcombination.

Second Example

The control section 230 may repeatedly perform the positional estimationcommunication until a reliability parameter indicating higherreliability than the predetermined threshold is obtained. In this case,the control section 230 performs the positional parameter estimationprocess on the basis of a specific element detected through positionestimation communication through which the reliability parameterindicating the higher reliability than the predetermined threshold isobtained. Such a configuration makes it possible to estimate thepositional parameter on the basis of the specific element with thehigher reliability than the predetermined threshold. This makes itpossible to improve accuracy of estimating a positional parameter.

Next, with reference to FIG. 17, a flow of a process will be describedwith regard to such an example. FIG. 17 is a flowchart illustrating anexample of a flow of a control process of a positional parameterestimation process executed by the communication unit 200 according tothe present embodiment on the basis of the reliability parameters.

As illustrated in FIG. 17, the communication unit 200 first performs theposition estimation communication (Step S402).

Next, the control section 230 detects the specific element andcalculates the reliability parameter on the basis of a CIR obtainedthrough the position estimation communication (Step S404).

Next, the control section 230 determines whether or not a reliabilityparameter indicating higher reliability than the predetermined thresholdis obtained (Step S406).

The process returns to Step S402 in the case where it is determined thatthe reliability parameter indicating higher reliability than thepredetermined threshold is not obtained (NO in Step S406).

On the other hand, in the case where it is determined that thereliability parameter indicating higher reliability than thepredetermined threshold is obtained (YES in Step S406), the positionalparameter of the portable device 100 is estimated on the basis of thespecific element detected through the position estimation communicationthrough which the reliability parameter is obtained (Step S408).

Third Example

The control section 230 does not have to always repeat the positionestimation communication. The control section 230 may perform thepositional parameter estimation process on the basis of a specificelement corresponding to a reliability parameter indicating higherreliability than the predetermined threshold, at least with regard tothe reliability parameter that is calculable for each wirelesscommunication section 210. For example, there may be a situation whereonly a specific element detected with regard to the wirelesscommunication section 210A has low reliability among the specificelements detected with regard to the wireless communication sections210A to 210D. In such a situation, the control section 230 may estimatethe positional parameter of the portable device 100 on the basis of thespecific elements detected with regard to the wireless communicationsections 210B to 210D.

Next, with reference to FIG. 18, a flow of a process will be describedwith regard to such an example. FIG. 18 is a flowchart illustrating anexample of a flow of a control process of a positional parameterestimation process executed by the communication unit 200 according tothe present embodiment on the basis of the reliability parameters.

As illustrated in FIG. 18, the communication unit 200 first performs theposition estimation communication (Step S502).

Next, the control section 230 detects the specific element andcalculates the reliability parameter on the basis of a CIR obtainedthrough the position estimation communication (Step S504).

Next, the control section 230 estimates the positional parameter on thebasis of a specific element corresponding to a reliability parameterindicating higher reliability than the predetermined threshold among thespecific elements detected in Step S504 (Step S506).

5. Supplement

Heretofore, preferred embodiments of the present invention have beendescribed in detail with reference to the appended drawings, but thepresent invention is not limited thereto. It should be understood bythose skilled in the art that various changes and alterations may bemade without departing from the spirit and scope of the appended claims.

For example, it is also possible to use a combination of any two or morereliability parameters among the plurality of reliability parametersdescribed in the above embodiment.

For example, in the above-described embodiment, the specific element isan element whose CIR value exceeds the first path threshold for thefirst time. However, the present invention is not limited thereto. Forexample, the specific element may be an element whose CIR value exceedsthe first path threshold for the second time.

For example, in the above-described embodiment, the receiver calculatesthe CIR and calculates the first incoming wave. However, the presentinvention is not limited thereto. The receiver may detect the firstincoming wave on the basis of the reception signal without calculatingthe CIR. For example, the receiver may use a condition that theamplitude or reception electric power of the received wireless signalexceeds a predetermined threshold for the first time, as thepredetermined detection standard for detecting the first incoming wave.In this case, the receiver may detect a signal having amplitude orreception electric power that exceeds the predetermined threshold forthe first time, as the first incoming wave among reception signals.

For example, in the above-described embodiment, the control section 230calculates the CIR, detects the first incoming wave (that is, specificelement), and estimates the positional parameter. However, the presentinvention is not limited thereto. Any of the above-described processesmay be performed by the wireless communication section 210. For example,each of the plurality of wireless communication sections 210 maycalculate the CIR and detect the first incoming wave on the basis of thereception signal received by each of the plurality of wirelesscommunication sections 210. In addition, the positional parameter may beestimated by the wireless communication section 210 that functions asthe master.

For example, according to the above-described embodiment, thedescription has been given with reference to the example in which theangles α and β are calculated on the basis of antenna array phasedifferences between antennas in a pair. However, the present inventionis not limited thereto. For example, the communication unit 200 maycalculate the angles α and β through beamforming using the plurality ofantennas 211. In this case, the communication unit 200 scans main lobesof the plurality of antennas 211 in all the directions, determines thatthe portable device 100 exists in a direction with largest receptionelectric power, and calculates the angles α and β on the basis of thisdirection.

For example, according to the above-described embodiment, as describedwith reference to FIG. 3, the local coordinate system has been treatedas a coordinate system including coordinate axes parallel to axesconnecting the antennas in the pairs. However, the present invention isnot limited thereto. For example, the local coordinate system may be acoordinate system including coordinate axes that are not parallel to theaxes connecting the antennas in the pairs. In addition, the origin isnot limited to the center of the plurality antennas 211. The localcoordinate system according to the present embodiment may be arbitrarilyset on the basis of arrangement of the plurality of antennas 211 of thecommunication unit 200.

For example, although the example in which the portable device 100serves as the authenticatee and the communication unit 200 serves as theauthenticator has been described in the above embodiment, the presentinvention is not limited thereto. The roles of the portable device 100and the communication unit 200 may be reversed. For example, thepositional parameter may be estimated by the portable device 100. Inaddition, the roles of the portable device 100 and the communicationunit 200 may be switched dynamically. In addition, a plurality of thecommunication units 200 may determine the positional parameters, andperform authentication.

For example, although the example in which the present invention isapplied to the smart entry system has been described in the aboveembodiment, the present invention is not limited thereto. The presentinvention is applicable to any system that estimates the positionalparameter and performs the authentication by transmitting/receivingsignals. For example, the present invention is applicable to a pair ofany two devices selected from a group including portable devices,vehicles, smartphones, drones, houses, home appliances, and the like. Inthis case, one in the pair operates as the authenticator, and the otherin the pair operates as the authenticatee. Note that, the pair mayinclude two device of a same type, or may include two different types ofdevices. In addition, the present invention is applicable to a casewhere a wireless local area network (LAN) router estimates a position ofa smartphone.

For example, in the above embodiment, the standard using UWB has beenexemplified as the wireless communication standard. However, the presentinvention is not limited thereto. For example, it is also possible touse a standard using infrared as the wireless communication standard.

Note that, a series of processes performed by the devices described inthis specification may be achieved by any of software, hardware, and acombination of software and hardware. A program that configures softwareis stored in advance in, for example, a recording medium (non-transitorymedium) installed inside or outside the devices. In addition, forexample, when a computer executes the programs, the programs are readinto random access memory (RAM), and executed by a processor such as aCPU. The recording medium may be a magnetic disk, an optical disc, amagneto-optical disc, flash memory, or the like. Alternatively, theabove-described computer program may be distributed via a networkwithout using the recording medium, for example.

Further, in the present specification, the processes described usingflowcharts are not necessarily executed in the order illustrated in thedrawings. Some processing steps may be executed in parallel. Inaddition, additional processing steps may be employed and someprocessing steps may be omitted.

REFERENCE SIGNS LIST

-   1 system-   100 portable device-   110 wireless communication section-   111 antenna-   120 storage section-   130 control section-   200 communication unit-   202 vehicle-   210 wireless communication section-   211 antenna-   220 storage section-   230 control section

What is claimed is:
 1. A communication device comprising: a plurality ofwireless communication sections, each of which is configured to becapable of wirelessly transmitting and receiving a signal to and fromanother communication device; and a control section configured tocorrelate a first signal that is transmitted from the othercommunication device and that includes change in amplitude withrespective second signals obtained when the plurality of wirelesscommunication sections receive the first signal, at a designatedinterval after the other device transmits the first signal, detect, on abasis of a first threshold, a specific element that is one or more of aplurality of elements included in a correlation computation result, withregard to each of a plurality of the correlation computation resultsthat are results obtained by correlating the first signal and therespective second signals at the designated interval and that includes acorrelation value indicating magnitude of correlation between the firstsignal and the second signal as the element obtained at each delay timeserving as time elapsed after the other communication device transmitsthe first signal at the designated interval, calculate a reliabilityparameter that is an indicator indicating whether the detected specificelement is appropriate for a processing target, and control a positionalparameter determination process on a basis of the reliability parameter,the positional parameter determination process being a process ofestimating a positional parameter indicating a position of the othercommunication device on a basis of the detected specific element.
 2. Thecommunication device according to claim 1, wherein, to detect thespecific element on a basis of the first threshold, the control sectiondetects an element having a correlation value that exceeds the firstthreshold for first time, as the specific element.
 3. The communicationdevice according to claim 1, wherein the reliability parameter includesa difference between delay time of a first element and delay time of asecond element in the correlation computation result, the first elementhaving a peak correlation value for the first time after the specificelement, the second element having a peak correlation value for secondtime after the specific element.
 4. The communication device accordingto claim 3, wherein, to control the positional parameter estimationprocess on a basis of the reliability parameter, the control sectionestimates the positional parameter on a basis of the specific elementwhose difference indicated by the reliability parameter is larger than asecond threshold.
 5. The communication device according to claim 4,wherein the second threshold is any value that is less than or equal towidth of the change in amplitude in time direction, which is included inthe first signal.
 6. The communication device according to claim 1,wherein the reliability parameter includes a correlation coefficientbetween the correlation computation result obtained on a basis of thesecond signal received by a first wireless communication section amongthe plurality of wireless communication sections, and the correlationcomputation result obtained on a basis of the second signal received bya second wireless communication section that is different from the firstwireless communication section among the plurality of wirelesscommunication sections.
 7. The communication device according to claim6, wherein the reliability parameter includes a correlation coefficientbetween chronological change in correlation value of a portion includingthe specific element in the correlation computation result obtained on abasis of the second signal received by a first wireless communicationsection among the plurality of wireless communication sections, andchronological change in correlation value of a portion including thespecific element in the correlation computation result obtained on abasis of the second signal received by a second wireless communicationsection that is different from the first wireless communication sectionamong the plurality of wireless communication sections.
 8. Thecommunication device according to claim 6, wherein the correlationcomputation result includes a complex number, which is the correlationvalue, as the element obtained at each delay time, and the controlsection calculates the correlation coefficient by correlating complexnumbers obtained at respective delay times, which are included in thetwo correlation computation results.
 9. The communication deviceaccording to claim 6, wherein, to control the positional parameterestimation process on a basis of the reliability parameter, the controlsection estimates the positional parameter on a basis of the specificelement whose correlation coefficient indicated by the reliabilityparameter is higher than a third threshold.
 10. The communication deviceaccording to claim 1, wherein the reliability parameter includes adifference between the delay time of the specific element and the delaytime of the element having a maximum correlation value in thecorrelation computation result.
 11. The communication device accordingto claim 10, wherein, to control the positional parameter estimationprocess on a basis of the reliability parameter, the control sectionestimates the positional parameter on a basis of the specific elementwhose difference indicated by the reliability parameter is smaller thana fourth threshold.
 12. The communication device according to claim 1,wherein the reliability parameter includes a difference between electricpower corresponding to the specific element in the correlationcomputation result obtained on a basis of the second signal received bya first wireless communication section among the plurality of wirelesscommunication sections, and electric power corresponding to the specificelement in the correlation computation result obtained on a basis of thesecond signal received by a second wireless communication section thatis different from the first wireless communication section among theplurality of wireless communication sections.
 13. The communicationdevice according to claim 12, wherein, to control the positionalparameter estimation process on a basis of the reliability parameter,the control section estimates the positional parameter on a basis of thespecific element whose difference indicated by the reliability parameteris smaller than a fifth threshold.
 14. An information processing methodthat is executed by a communication device including a plurality ofwireless communication sections, each of which is configured to becapable of wirelessly transmitting and receiving a signal to and fromanother communication device, the information processing methodcomprising: correlating a first signal that is transmitted from theother communication device and that includes change in amplitude withrespective second signals obtained when the plurality of wirelesscommunication sections receive the first signal, at a designatedinterval after the other device transmits the first signal; detecting,on a basis of a first threshold, a specific element that is one or moreof a plurality of elements included in a correlation computation result,with regard to each of a plurality of the correlation computationresults that are results obtained by correlating the first signal andthe respective second signals at the designated interval and thatincludes a correlation value indicating magnitude of correlation betweenthe first signal and the second signal as the element obtained at eachdelay time serving as time elapsed after the other communication devicetransmits the first signal at the designated interval; calculating areliability parameter that is an indicator indicating whether thedetected specific element is appropriate for a processing target; andcontrolling a positional parameter determination process on a basis ofthe reliability parameter, the positional parameter determinationprocess being a process of estimating a positional parameter indicatinga position of the other communication device on a basis of the detectedspecific element.
 15. A non-transitory computer readable storage mediumhaving a program stored therein, the program causing a computer forcontrolling a communication device including a plurality of wirelesscommunication sections, each of which is configured to be capable ofwirelessly transmitting and receiving a signal to and from anothercommunication device, to function as a control section configured tocorrelate a first signal that is transmitted from the othercommunication device and that includes change in amplitude withrespective second signals obtained when the plurality of wirelesscommunication sections receive the first signal, at a designatedinterval after the other device transmits the first signal, detect, on abasis of a first threshold, a specific element that is one or more of aplurality of elements included in a correlation computation result, withregard to each of a plurality of the correlation computation resultsthat are results obtained by correlating the first signal and therespective second signals at the designated interval and that includes acorrelation value indicating magnitude of correlation between the firstsignal and the second signal as the element obtained at each delay timeserving as time elapsed after the other communication device transmitsthe first signal at the designated interval, calculate a reliabilityparameter that is an indicator indicating whether the detected specificelement is appropriate for a processing target, and control a positionalparameter determination process on a basis of the reliability parameter,the positional parameter determination process being a process ofestimating a positional parameter indicating a position of the othercommunication device on a basis of the detected specific element.